{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "61ddcb8c",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Available Planning Groups:\u001b[0m[ INFO] [1756719130.673528131]: Loading robot model 'panda'...\u001b[0m\n",
      " ['panda_arm', 'panda_hand', 'panda_manipulator']\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719130.763381009]: Error retrieving file [package://franka_description/meshes/collision/link0.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719130.763449668]: Link panda_link0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719130.847772086]: Error retrieving file [package://franka_description/meshes/collision/link1.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719130.847836269]: Link panda_link1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719130.933448558]: Error retrieving file [package://franka_description/meshes/collision/link2.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719130.933500005]: Link panda_link2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719131.016304574]: Error retrieving file [package://franka_description/meshes/collision/link3.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719131.016365046]: Link panda_link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719131.097541310]: Error retrieving file [package://franka_description/meshes/collision/link4.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719131.097624074]: Link panda_link4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719131.182377760]: Error retrieving file [package://franka_description/meshes/collision/link5.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719131.182428768]: Link panda_link5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719131.264515552]: Error retrieving file [package://franka_description/meshes/collision/link6.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719131.264569340]: Link panda_link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719131.348968094]: Error retrieving file [package://franka_description/meshes/collision/link7.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719131.349022964]: Link panda_link7 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "[rospack] Error: package 'franka_description' not found\n",
      "[librospack]: error while executing command\n",
      "\u001b[31m[ERROR] [1756719131.434192877]: Error retrieving file [package://franka_description/meshes/collision/hand.stl]: Package [franka_description] does not exist\u001b[0m\n",
      "\u001b[33m[ WARN] [1756719131.434252424]: Link panda_hand has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.\u001b[0m\n",
      "\u001b[31m[ERROR] [1756719131.461635410]: Group 'panda_arm' not found in model 'panda'\u001b[0m\n",
      "\u001b[31m[ERROR] [1756719131.461674690]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_arm'\u001b[0m\n",
      "\u001b[31m[ERROR] [1756719131.461694488]: Kinematics solver could not be instantiated for joint group panda_arm.\u001b[0m\n",
      "\u001b[31m[ERROR] [1756719131.461715202]: Group 'panda_manipulator' not found in model 'panda'\u001b[0m\n",
      "\u001b[31m[ERROR] [1756719131.461723388]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_manipulator'\u001b[0m\n",
      "\u001b[31m[ERROR] [1756719131.461741549]: Kinematics solver could not be instantiated for joint group panda_manipulator.\u001b[0m\n"
     ]
    }
   ],
   "source": [
    "\n",
    "import moveit_commander\n",
    "\n",
    "\n",
    "\n",
    "# Initialize robot and planning groups\n",
    "robot = moveit_commander.RobotCommander()\n",
    "\n",
    "print(\"Available Planning Groups:\", robot.get_group_names())"
   ]
  }
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